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<div class="title">kdtree_flann.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: kdtree_flann.h 36261 2011-02-26 01:34:42Z mariusm $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_KDTREE_KDTREE_FLANN_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_KDTREE_KDTREE_FLANN_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/flann.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;boost/shared_array.hpp&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>flann</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">struct </span>SearchParams;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structflann_1_1_l2___simple.html">   53</a></span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">struct </span><a class="code" href="structflann_1_1_l2___simple.html">L2_Simple</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classflann_1_1_index.html">   54</a></span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span><a class="code" href="classflann_1_1_index.html">Index</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span>PointRepresentation;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Dist = ::flann::L2_Simple&lt;<span class="keywordtype">float</span>&gt; &gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">   69</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_kd_tree.html">pcl::KdTree</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::epsilon_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::sorted_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::point_representation_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::nearestKSearch</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::radiusSearch</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">KdTree&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTree&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; IndicesPtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const std::vector&lt;int&gt; &gt; IndicesConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      typedef ::flann::Index&lt;Dist&gt; <a class="code" href="classflann_1_1_index.html">FLANNIndex</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;KdTreeFLANN&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const KdTreeFLANN&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#adebe4b1eed5e5e1bc0d1dd085be9a8b7">KdTreeFLANN</a> (<span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#adebe4b1eed5e5e1bc0d1dd085be9a8b7">KdTreeFLANN</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointT&gt;</a> &amp;k);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointT&gt;</a>&amp;</div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9acf3428029f353a4b67838e3c21225b">  108</a></span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9acf3428029f353a4b67838e3c21225b">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointT&gt;</a>&amp; k)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree.html">KdTree&lt;PointT&gt;::operator=</a>(k);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8b0b7140b9aa6d049c470d6a8d68bb6b">flann_index_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8b0b7140b9aa6d049c470d6a8d68bb6b">flann_index_</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a50c16340a9577a19c2f8c3efa07feb98">cloud_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a50c16340a9577a19c2f8c3efa07feb98">cloud_</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af3b4d9aaf228ed065f8c369b098ec5f5">index_mapping_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af3b4d9aaf228ed065f8c369b098ec5f5">index_mapping_</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ac18b49de0a6ad3e2e62197dd1740fe05">identity_mapping_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ac18b49de0a6ad3e2e62197dd1740fe05">identity_mapping_</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aec09a50535962b426d979d24a54b9c15">dim_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aec09a50535962b426d979d24a54b9c15">dim_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a59ec577841dfd3f8b81abea21c101df2">total_nr_points_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a59ec577841dfd3f8b81abea21c101df2">total_nr_points_</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af069d3c2d9bda60cd91b24f9cec8fad6">param_k_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af069d3c2d9bda60cd91b24f9cec8fad6">param_k_</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a1793ce7e171eedaa00694607f68cae83">param_radius_</a> = k.<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a1793ce7e171eedaa00694607f68cae83">param_radius_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a87e5aa1e4c6a23e161712919bef9a1a7">setEpsilon</a> (<span class="keywordtype">float</span> eps);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      setSortedResults (<span class="keywordtype">bool</span> sorted);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">inline</span> Ptr makeShared () { <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointT&gt;</a> (*<span class="keyword">this</span>)); } </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a7266873c887581cd840b07cac1fbe030">  136</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a7266873c887581cd840b07cac1fbe030">~KdTreeFLANN</a> ()</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a26c68d6a3d8a71eaeed7d545aaa09626">cleanup</a> ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">setInputCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, <span class="keyword">const</span> IndicesConstPtr &amp;indices = IndicesConstPtr ());</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9bdbc03758c8d7b3033139e2fb1e6150">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k, </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                      std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ab598d8e1220f1292b938e3a66f1ec370">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                    std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a26c68d6a3d8a71eaeed7d545aaa09626">cleanup</a> ();</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a3c3afb0b425c5449859d94be855b997f">convertCloudToArray</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a3c3afb0b425c5449859d94be855b997f">convertCloudToArray</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keyword">virtual</span> std::string </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8433c05a2699a973d54672f3ffc58b03">  209</a></span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8433c05a2699a973d54672f3ffc58b03">getName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;KdTreeFLANN&quot;</span>); }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8b0b7140b9aa6d049c470d6a8d68bb6b">  212</a></span>&#160;      boost::shared_ptr&lt;FLANNIndex&gt; <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8b0b7140b9aa6d049c470d6a8d68bb6b">flann_index_</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a50c16340a9577a19c2f8c3efa07feb98">  215</a></span>&#160;      boost::shared_array&lt;float&gt; <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a50c16340a9577a19c2f8c3efa07feb98">cloud_</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af3b4d9aaf228ed065f8c369b098ec5f5">  218</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af3b4d9aaf228ed065f8c369b098ec5f5">index_mapping_</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      </div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ac18b49de0a6ad3e2e62197dd1740fe05">  221</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ac18b49de0a6ad3e2e62197dd1740fe05">identity_mapping_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aec09a50535962b426d979d24a54b9c15">  224</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aec09a50535962b426d979d24a54b9c15">dim_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a59ec577841dfd3f8b81abea21c101df2">  227</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a59ec577841dfd3f8b81abea21c101df2">total_nr_points_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af069d3c2d9bda60cd91b24f9cec8fad6">  230</a></span>&#160;      ::flann::SearchParams <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af069d3c2d9bda60cd91b24f9cec8fad6">param_k_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a1793ce7e171eedaa00694607f68cae83">  233</a></span>&#160;      ::flann::SearchParams <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a1793ce7e171eedaa00694607f68cae83">param_radius_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  };</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;}</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/impl/kdtree_flann.hpp&gt;</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassflann_1_1_index_html"><div class="ttname"><a href="classflann_1_1_index.html">flann::Index</a></div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a1793ce7e171eedaa00694607f68cae83"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a1793ce7e171eedaa00694607f68cae83">pcl::KdTreeFLANN::param_radius_</a></div><div class="ttdeci">::flann::SearchParams param_radius_</div><div class="ttdoc">The KdTree search parameters for radius search.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a26c68d6a3d8a71eaeed7d545aaa09626"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a26c68d6a3d8a71eaeed7d545aaa09626">pcl::KdTreeFLANN::cleanup</a></div><div class="ttdeci">void cleanup()</div><div class="ttdoc">Internal cleanup method.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:214</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a3c3afb0b425c5449859d94be855b997f"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a3c3afb0b425c5449859d94be855b997f">pcl::KdTreeFLANN::convertCloudToArray</a></div><div class="ttdeci">void convertCloudToArray(const PointCloud &amp;cloud)</div><div class="ttdoc">Converts a PointCloud to the internal FLANN point array representation. Returns the number of points.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a50c16340a9577a19c2f8c3efa07feb98"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a50c16340a9577a19c2f8c3efa07feb98">pcl::KdTreeFLANN::cloud_</a></div><div class="ttdeci">boost::shared_array&lt; float &gt; cloud_</div><div class="ttdoc">Internal pointer to data.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a59ec577841dfd3f8b81abea21c101df2"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a59ec577841dfd3f8b81abea21c101df2">pcl::KdTreeFLANN::total_nr_points_</a></div><div class="ttdeci">int total_nr_points_</div><div class="ttdoc">The total size of the data (either equal to the number of points in the input cloud or to the number ...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a7266873c887581cd840b07cac1fbe030"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a7266873c887581cd840b07cac1fbe030">pcl::KdTreeFLANN::~KdTreeFLANN</a></div><div class="ttdeci">virtual ~KdTreeFLANN()</div><div class="ttdoc">Destructor for KdTreeFLANN. Deletes all allocated data arrays and destroys the kd-tree structures.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a8433c05a2699a973d54672f3ffc58b03"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8433c05a2699a973d54672f3ffc58b03">pcl::KdTreeFLANN::getName</a></div><div class="ttdeci">virtual std::string getName() const</div><div class="ttdoc">Class getName method.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a87e5aa1e4c6a23e161712919bef9a1a7"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a87e5aa1e4c6a23e161712919bef9a1a7">pcl::KdTreeFLANN::setEpsilon</a></div><div class="ttdeci">void setEpsilon(float eps)</div><div class="ttdoc">Set the search epsilon precision (error bound) for nearest neighbors searches.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a8b0b7140b9aa6d049c470d6a8d68bb6b"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a8b0b7140b9aa6d049c470d6a8d68bb6b">pcl::KdTreeFLANN::flann_index_</a></div><div class="ttdeci">boost::shared_ptr&lt; FLANNIndex &gt; flann_index_</div><div class="ttdoc">A FLANN index object.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a9acf3428029f353a4b67838e3c21225b"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9acf3428029f353a4b67838e3c21225b">pcl::KdTreeFLANN::operator=</a></div><div class="ttdeci">KdTreeFLANN&lt; PointT &gt; &amp; operator=(const KdTreeFLANN&lt; PointT &gt; &amp;k)</div><div class="ttdoc">Copy operator</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a9bdbc03758c8d7b3033139e2fb1e6150"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9bdbc03758c8d7b3033139e2fb1e6150">pcl::KdTreeFLANN::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:132</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_ab598d8e1220f1292b938e3a66f1ec370"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ab598d8e1220f1292b938e3a66f1ec370">pcl::KdTreeFLANN::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_aba28a792bf0c2026aa0a6a99ed3e32ec"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">pcl::KdTreeFLANN::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_ac18b49de0a6ad3e2e62197dd1740fe05"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ac18b49de0a6ad3e2e62197dd1740fe05">pcl::KdTreeFLANN::identity_mapping_</a></div><div class="ttdeci">bool identity_mapping_</div><div class="ttdoc">whether the mapping bwwteen internal and external indices is identity</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_adebe4b1eed5e5e1bc0d1dd085be9a8b7"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#adebe4b1eed5e5e1bc0d1dd085be9a8b7">pcl::KdTreeFLANN::KdTreeFLANN</a></div><div class="ttdeci">KdTreeFLANN(bool sorted=true)</div><div class="ttdoc">Default Constructor for KdTreeFLANN.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_aec09a50535962b426d979d24a54b9c15"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aec09a50535962b426d979d24a54b9c15">pcl::KdTreeFLANN::dim_</a></div><div class="ttdeci">int dim_</div><div class="ttdoc">Tree dimensionality (i.e. the number of dimensions per point).</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_af069d3c2d9bda60cd91b24f9cec8fad6"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af069d3c2d9bda60cd91b24f9cec8fad6">pcl::KdTreeFLANN::param_k_</a></div><div class="ttdeci">::flann::SearchParams param_k_</div><div class="ttdoc">The KdTree search parameters for K-nearest neighbors.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_af3b4d9aaf228ed065f8c369b098ec5f5"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#af3b4d9aaf228ed065f8c369b098ec5f5">pcl::KdTreeFLANN::index_mapping_</a></div><div class="ttdeci">std::vector&lt; int &gt; index_mapping_</div><div class="ttdoc">mapping between internal and external indices.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructflann_1_1_l2___simple_html"><div class="ttname"><a href="structflann_1_1_l2___simple.html">flann::L2_Simple</a></div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:53</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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